struct mola::SMGeoReferencingParams

Overview

#include <simplemap_georeference.h>

struct SMGeoReferencingParams
{
    // fields

    std::optional<mrpt::topography::TGeodeticCoords> geodeticReference;
    AddGNSSFactorParams fgParams;
    bool useIMUGravityAlignment = true;
    AddIMUGravityFactorParams imuGravityParams;
    mrpt::system::COutputLogger* logger = nullptr;
};

Fields

std::optional<mrpt::topography::TGeodeticCoords> geodeticReference

If provided, this will be the coordinates of the ENU frame origin. Otherwise (default), the first GNSS entry will become the reference.

bool useIMUGravityAlignment = true

If true, use IMU acceleration data found in the simplemap to add gravity-alignment constraints (MeasuredGravityFactor) to the optimization. This helps in cases with poor Z data in GPS.